version: 66.13
glider: 401
mission: 22
dive: 2765
start: 9 13 117 1 28 49
data:
$ID,401
$MISSION,22
$DIVE,2765
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,17
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,4
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,130917,010817,5921.4404,-17034.6797,10,0.9,18,8.6,0.7,156.5,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-2.7
$GPS2,130917,010817,5921.4404,-17034.6797,10,0.9,18,8.6,0.7,156.5,10,4.8
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5905.380,-17028.039
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,159.4,30408,-11.8,-10.784,-15.15,6791
$D_GRID,55
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2380,1977,2381,4093,0.0,0.0,0,31,6.28,0.00,-6.60,0.000,20486,0.021,0.000,1764,1979,3057,3057,4095,0,0,0,0,0,0,26.22,24.33,26.24,10.36,52.63
$GC,38,-1.80,-487.5,1765,1979,3057,4095,-0.1,-0.0,3,43,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1979,3057,3057,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.50,53.07
$GC,79,-1.80,-487.5,1765,1978,3058,4095,3.8,-12.0,9,85,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1979,3058,3058,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.50,52.83
$GC,121,-1.80,-487.5,1764,1979,3059,4095,10.4,-16.4,15,127,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1979,3059,3059,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.51,52.40
$GC,163,-1.80,-487.5,1764,1978,3060,4095,18.0,-18.6,21,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1979,3061,3061,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.51,52.36
$GC,204,-1.80,-487.5,1764,1979,3062,4094,25.1,-16.8,27,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1979,3062,3062,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.49,52.32
$GC,246,-1.80,-487.5,1764,1979,3063,4095,30.8,-13.6,33,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1979,3063,3063,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.46,51.89
$GC,288,-1.80,-487.5,1764,1978,3064,4095,36.8,-14.2,39,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1979,3066,3066,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.43,51.14
$GC,330,-1.80,-487.5,1764,1978,3065,4095,42.7,-14.3,45,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1979,3065,3065,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.43,50.19
$GC,371,-1.80,-487.5,1764,1979,3066,4095,49.0,-15.5,51,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1979,3067,3067,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.42,49.72
$GC,413,-1.80,-487.5,1764,1979,3067,4095,55.0,-14.3,57,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1979,3068,3068,4095,0,0,0,0,0,0,26.68,26.70,26.70,10.41,49.64
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,438,-0.45,0.0,1764,2125,3068,4095,57.3,-13.9,59,475,4.53,0.00,28.60,1.265,10246,0.054,0.000,2185,2125,2484,2484,4094,0,0,0,0,0,0,26.17,25.23,23.95,10.42,50.47
$STATE,476,end apogee,CONTROL_FINISHED_OK
$STATE,476,begin climb
$GC,482,1.80,487.5,2185,2125,2484,4094,61.3,0.0,65,524,7.57,0.00,28.23,1.244,10246,0.031,0.000,2901,2125,1916,1916,4094,0,0,0,0,0,0,25.75,24.75,23.55,10.28,49.40
$GC,560,1.80,487.5,2900,2125,1915,4094,55.5,11.7,77,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1915,1915,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.16,47.91
$GC,602,1.80,487.5,2900,2125,1914,4094,50.1,13.4,83,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1914,1914,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.15,47.99
$GC,643,1.80,487.5,2900,2125,1912,4094,44.5,13.1,89,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1912,1912,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.15,48.85
$GC,685,1.80,487.5,2900,2125,1911,4094,39.1,12.8,95,692,0.00,1.10,0.00,0.000,516,0.000,0.046,2901,1711,1910,1910,4095,0,0,0,0,0,0,26.19,25.74,26.20,10.15,48.34
$GC,800,1.80,487.5,2900,1711,1908,4095,24.3,12.8,113,806,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2132,1907,1907,4094,0,0,0,0,0,0,26.06,26.01,26.08,10.14,49.01
$GC,842,1.80,487.5,2900,2132,1907,4094,19.5,11.0,119,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2132,1907,1907,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.18,50.63
$GC,884,1.80,487.5,2900,2132,1906,4095,14.9,10.8,125,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2132,1906,1906,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.19,51.33
$GC,926,1.80,487.5,2900,2132,1905,4094,10.3,11.0,131,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2132,1904,1904,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.21,53.11
$GC,967,1.80,487.5,2900,2131,1903,4094,5.6,11.6,137,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2132,1903,1903,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.21,53.50
$STATE,997,end climb,FINISH_DEPTH_REACHED
$STATE,997,begin subsurface finish
$FINISH1,1.4,1.024287,91
$GC,1012,0.14,91.5,2901,2132,1901,4094,1.4,11.9,142,1026,5.28,1.23,-4.45,0.000,20996,0.021,1.216,2378,1714,2383,2383,4094,0,0,0,0,0,0,26.28,23.82,26.32,10.22,53.66
$FINISH2,0.1
$STATE,1027,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1027,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,005837
$TT8_MAMPS,0.025466,0.106358
$HUMID,53.85
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.55,80.787
$10V_AH,10.32,72.130
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.650,4.275,56.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,373.359,207.874,146.375,210.068,152.961,0.000,313.880,0.000,218.539,0.000,0.544,0.000
$DEVICE_MAMPS,54.315,1216.350,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333624
$DATA_FILE_SIZE,10851,144
$CAP_FILE_SIZE,25620,0
$CFSIZE,1024409600,910327808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,010817,5921.440,-17034.680,10,0.9,18,8.6,0.7,156.5,10,4.8